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Cleaning

Clean a single target

TARGET=binutils-cross-i586
bitbake $TARGET -c cleanall

Clean everything

bitbake world -c cleanall
cd $POKY
rm -rf build/sstate-cache build/tmp

About tmp & sstate

build/tmp contains sources, build files, created packages, temporary rootfs, staging area, etc. You may need to remove it sometime.
build/sstate-cache contains downloaded files, ie source tarballs. You are unlikely to have to remove this folder.